ml7::Matrix3x3 Class Reference

#include <Matrix3x3.h>

List of all members.

Public Member Functions
	Matrix3x3 (void)
	Matrix3x3 (const Matrix3x3 &m)
Matrix3x3 &	operator= (const Matrix3x3 &m)
void	swap (Matrix3x3 &m)
	~Matrix3x3 (void)
	Matrix3x3 (const float _11, const float _12, const float _13, const float _21, const float _22, const float _23, const float _31, const float _32, const float _33)
	Matrix3x3 (const Vector3 &x, const Vector3 &y, const Vector3 &z)
	Matrix3x3 (const Vector3 &v, const float phi)
	Matrix3x3 (const Vector3 &v)
	Matrix3x3 (const Quaternion &q)
const float	det () const
const Matrix3x3	transposed () const
const Matrix3x3	inverted () const
const float	operator[] (unsigned index) const
float &	operator[] (unsigned index)
const Vector3	get (unsigned i) const
const Matrix3x3 &	set (unsigned i, const Vector3 &v)
const Matrix3x3 &	set (const ml7::Vector3 &x, const ml7::Vector3 &y, const ml7::Vector3 &z)
const Vector3	axis () const
const float	angle () const
void	axisangle (Vector3 *v, float *phi) const
const Quaternion	rotation () const
const Matrix3x3	operator- () const
const Matrix3x3	operator+ (const Matrix3x3 &m) const
const Matrix3x3	operator- (const Matrix3x3 &m) const
const Matrix3x3	operator* (const float s) const
const Vector3	operator* (const Vector3 &v) const
const Matrix3x3	operator* (const Matrix3x3 &m) const
const Vector3	trans (const Vector3 &v) const
const Vector3	transinv (const Vector3 &v) const
Matrix3x3 &	operator+= (const Matrix3x3 &m)
Matrix3x3 &	operator-= (const Matrix3x3 &m)
Matrix3x3 &	operator*= (const float s)
Matrix3x3 &	operator*= (const Matrix3x3 &m)
Matrix3x3 &	clear ()
Matrix3x3 &	identity ()
Matrix3x3 &	transpose ()
Matrix3x3 &	transpose (const Matrix3x3 &m)
Matrix3x3 &	invert ()
Matrix3x3 &	invert (const Matrix3x3 &m)
Matrix3x3 &	rotation (const Vector3 &v, const float phi)
Matrix3x3 &	rotation (const Vector3 &v)
Matrix3x3 &	rotation (const Quaternion &q)
Matrix3x3 &	rotx (const float alpha)
Matrix3x3 &	roty (const float beta)
Matrix3x3 &	rotz (const float gamma)
const bool	operator== (const Matrix3x3 &m) const
const bool	operator!= (const Matrix3x3 &m) const
const bool	operator< (const Matrix3x3 &m) const
const bool	operator> (const Matrix3x3 &m) const
const bool	operator<= (const Matrix3x3 &m) const
const bool	operator>= (const Matrix3x3 &m) const
	operator const float *const () const
	operator float *const ()
Public Attributes
union {
struct {
float   _11
float   _12
float   _13
float   _21
float   _22
float   _23
float   _31
float   _32
float   _33
}
float   data [9]
float   m [3][3]
};

---

Detailed Description

Represents a 3x3-matrix for rotating 3d-vectors or holding inertia tensors of rigid bodies. Used for 3d-physics and -graphics.

---

Constructor & Destructor Documentation

ml7::Matrix3x3::Matrix3x3

(

void

)

[inline]

Default constructor. Creates a new identity matrix representing a zero rotation.

ml7::Matrix3x3::Matrix3x3

(

const Matrix3x3 &

m

)

[inline]

Copy constructor. Copies a given matrix m.

ml7::Matrix3x3::~Matrix3x3

(

void

)

[inline]

Destructor.

ml7::Matrix3x3::Matrix3x3	(	const float	_11,
		const float	_12,
		const float	_13,
		const float	_21,
		const float	_22,
		const float	_23,
		const float	_31,
		const float	_32,
		const float	_33
	)			[inline]

Explicit constructor with parameters for each element.

ml7::Matrix3x3::Matrix3x3	(	const Vector3 &	x,
		const Vector3 &	y,
		const Vector3 &	z
	)			[inline]

Explicit constructor with given three vectors making up the columns.

ml7::Matrix3x3::Matrix3x3	(	const Vector3 &	v,
		const float	phi
	)			[inline]

Explicit constructor with a given rotation axis v and a clockwise-angle phi.

ml7::Matrix3x3::Matrix3x3

(

const Vector3 &

v

)

[inline, explicit]

Explicit constructor with a given rotation axis v and a clockwise-angle given by the length of vector v.

ml7::Matrix3x3::Matrix3x3

(

const Quaternion &

q

)

[inline, explicit]

Explicit constructor with a given rotation quaternion q.

---

Member Function Documentation

const float ml7::Matrix3x3::angle

(

)

const

Returns the angle of the clockwise rotation represented by this matrix.

const Vector3 ml7::Matrix3x3::axis

(

)

const

Returns the axis of the clockwise rotation represented by this matrix.

void ml7::Matrix3x3::axisangle	(	Vector3 *	v,
		float *	phi
	)			const

Determines the rotation axis v and the clockwise angle phi.

Matrix3x3 & ml7::Matrix3x3::clear

(

)

Forces this matrix to be an empty matrix representing no legal rotation.

const float ml7::Matrix3x3::det

(

)

const

Returns the determinant of this matrix.

const Vector3 ml7::Matrix3x3::get

(

unsigned

i

)

const [inline]

Returns the i-th (0-indexed) column vector of this matrix.

Matrix3x3 & ml7::Matrix3x3::identity

(

)

Forces this matrix to be an identity matrix representing a zero rotation.

Matrix3x3 & ml7::Matrix3x3::invert

(

const Matrix3x3 &

m

)

Replaces this matrix by a given matrix m inverted. Fortunately we have to deal with a rotation matrix so we confidently may do a transposition instead of an expensive inversion.

Matrix3x3 & ml7::Matrix3x3::invert

(

)

Inverts this matrix. Fortunately we have to deal with a rotation matrix so we confidently may do a transposition instead of an expensive inversion.

const Matrix3x3 ml7::Matrix3x3::inverted

(

)

const [inline]

Copies this matrix and inverts it. Fortunately we have to deal with a rotation matrix so we confidently may do a transposition instead of an expensive inversion.

ml7::Matrix3x3::operator const float *const

(

)

const [inline]

ml7::Matrix3x3::operator float *const

(

)

[inline]

const bool ml7::Matrix3x3::operator!=

(

const Matrix3x3 &

m

)

const

Checks if a given matrix m and this have non-identical elements.

const Matrix3x3 ml7::Matrix3x3::operator*

(

const float

s

)

const

Returns a copy of this matrix scaled by a given scalar s.

const Vector3 ml7::Matrix3x3::operator*

(

const Vector3 &

v

)

const

Returns a copy of a given vector v tranformed by this matrix.

const Matrix3x3 ml7::Matrix3x3::operator*

(

const Matrix3x3 &

m

)

const

Returns a copy of a given matrix m transformed by this.

Matrix3x3 & ml7::Matrix3x3::operator*=

(

const float

s

)

Scales this matrix by a given scalar s.

Matrix3x3& ml7::Matrix3x3::operator*=

(

const Matrix3x3 &

m

)

[inline]

Transforms this matrix by a given matrix m. It results in an operation identical to m * this.

const Matrix3x3 ml7::Matrix3x3::operator+

(

const Matrix3x3 &

m

)

const

Returns a given matrix m added to this.

Matrix3x3 & ml7::Matrix3x3::operator+=

(

const Matrix3x3 &

m

)

Adds a given matrix m to this.

const Matrix3x3 ml7::Matrix3x3::operator-

(

const Matrix3x3 &

m

)

const

Returns a given matrix m subtracted from this.

const Matrix3x3 ml7::Matrix3x3::operator-

(

)

const [inline]

Returns a copy of this matrix with the elements having signs flipped.

Matrix3x3 & ml7::Matrix3x3::operator-=

(

const Matrix3x3 &

m

)

Subtracts a given matrix m from this.

const bool ml7::Matrix3x3::operator<

(

const Matrix3x3 &

m

)

const [inline]

Checks if the angle of the rotation represented by this matrix is less than that of a given matrix m.

const bool ml7::Matrix3x3::operator<=

(

const Matrix3x3 &

m

)

const [inline]

Checks if the angle of the rotation represented by this matrix is less than or equal to that of a given matrix m.

Matrix3x3& ml7::Matrix3x3::operator=

(

const Matrix3x3 &

m

)

[inline]

Copy assignment operator. Copies the elements of a given matrix m.

const bool ml7::Matrix3x3::operator==

(

const Matrix3x3 &

m

)

const

Checks if a given matrix m and this have identical elements.

const bool ml7::Matrix3x3::operator>

(

const Matrix3x3 &

m

)

const [inline]

Checks if the angle of the rotation represented by this matrix is greater than that of a given matrix m.

const bool ml7::Matrix3x3::operator>=

(

const Matrix3x3 &

m

)

const [inline]

Checks if the angle of the rotation represented by this matrix is greater than or equal to that of a given matrix m.

const float ml7::Matrix3x3::operator[]

(

unsigned

index

)

const [inline]

Indexed component access.

float& ml7::Matrix3x3::operator[]

(

unsigned

index

)

[inline]

Indexed component access.

Matrix3x3 & ml7::Matrix3x3::rotation	(	const Vector3 &	v,
		const float	phi
	)

Forces this matrix to be a rotation matrix with rotation axis v and a clockwise-angle phi.

Matrix3x3 & ml7::Matrix3x3::rotation

(

const Vector3 &

v

)

Forces this matrix to be a rotation matrix with rotation axis v and a clockwise-angle given by the length of vector v.

Matrix3x3 & ml7::Matrix3x3::rotation

(

const Quaternion &

q

)

Forces this matrix to be a rotation matrix defined by given the rotation quaternion q.

const Quaternion ml7::Matrix3x3::rotation

(

)

const

Returns the quaternion of the clockwise rotation represented by this matrix.

Matrix3x3 & ml7::Matrix3x3::rotx

(

const float

alpha

)

Forces this matrix to be a rotation matrix with rotation axis X and a clockwise-angle alpha.

Matrix3x3 & ml7::Matrix3x3::roty

(

const float

beta

)

Forces this matrix to be a rotation matrix with rotation axis Y and a clockwise-angle beta.

Matrix3x3 & ml7::Matrix3x3::rotz

(

const float

gamma

)

Forces this matrix to be a rotation matrix with rotation axis Z and a clockwise-angle gamma.

const Matrix3x3& ml7::Matrix3x3::set	(	unsigned	i,
		const Vector3 &	v
	)			[inline]

Sets the i-th (0-indexed) column vector of this matrix.

const Matrix3x3& ml7::Matrix3x3::set	(	const ml7::Vector3 &	x,
		const ml7::Vector3 &	y,
		const ml7::Vector3 &	z
	)			[inline]

Sets the column vectors of this matrix.

void ml7::Matrix3x3::swap

(

Matrix3x3 &

m

)

[inline]

Swap operation. Swaps the elements of a given matrix m with this.

const Vector3 ml7::Matrix3x3::trans

(

const Vector3 &

v

)

const

Returns a copy of a given vector v transformed by this matrix.

const Vector3 ml7::Matrix3x3::transinv

(

const Vector3 &

v

)

const

Returns a copy of a given vector v transformed by this matrix inverted.

Matrix3x3 & ml7::Matrix3x3::transpose

(

)

Transposes this matrix.

Matrix3x3 & ml7::Matrix3x3::transpose

(

const Matrix3x3 &

m

)

Replaces this matrix by a given matrix m transposed.

const Matrix3x3 ml7::Matrix3x3::transposed

(

)

const [inline]

Copies this matrix and transposes it.

---

Member Data Documentation

union { ... }

float ml7::Matrix3x3::_11

Element in the 1st row and 1st column.

float ml7::Matrix3x3::_12

Element in the 1st row and 2nd column.

float ml7::Matrix3x3::_13

Element in the 1st row and 3rd column.

float ml7::Matrix3x3::_21

Element in the 2nd row and 1st column.

float ml7::Matrix3x3::_22

Element in the 2nd row and 2nd column.

float ml7::Matrix3x3::_23

Element in the 2nd row and 3rd column.

float ml7::Matrix3x3::_31

Element in the 3rd row and 1st column.

float ml7::Matrix3x3::_32

Element in the 3rd row and 2nd column.

float ml7::Matrix3x3::_33

Element in the 3rd row and 3rd column.

float ml7::Matrix3x3::data[9]

Array of the elements.

float ml7::Matrix3x3::m[3][3]

2d-array of the elements.

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The documentation for this class was generated from the following files:

• Matrix3x3.h
• Matrix3x3.cpp